vl53l1_def.h

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/*
* Copyright (c) 2017, STMicroelectronics - All Rights Reserved
*
* This file is part of VL53L1 Core and is dual licensed,
* either 'STMicroelectronics
* Proprietary license'
* or 'BSD 3-clause "New" or "Revised" License' , at your option.
*
********************************************************************************
*
* 'STMicroelectronics Proprietary license'
*
********************************************************************************
*
* License terms: STMicroelectronics Proprietary in accordance with licensing
* terms at www.st.com/sla0081
*
* STMicroelectronics confidential
* Reproduction and Communication of this document is strictly prohibited unless
* specifically authorized in writing by STMicroelectronics.
*
*
********************************************************************************
*
* Alternatively, VL53L1 Core may be distributed under the terms of
* 'BSD 3-clause "New" or "Revised" License', in which case the following
* provisions apply instead of the ones mentioned above :
*
********************************************************************************
*
* License terms: BSD 3-clause "New" or "Revised" License.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*
********************************************************************************
*
*/

#ifndef _VL53L1_DEF_H_
#define _VL53L1_DEF_H_

#include "vl53l1_ll_def.h"

#ifdef __cplusplus
extern "C" {
#endif

#define VL53L1_IMPLEMENTATION_VER_MAJOR       2

#define VL53L1_IMPLEMENTATION_VER_MINOR       3

#define VL53L1_IMPLEMENTATION_VER_SUB         3

#define VL53L1_IMPLEMENTATION_VER_REVISION  1885

/****************************************
 * PRIVATE define do not edit
 ****************************************/

typedef struct {
        uint32_t     revision; 
        uint8_t      major;    
        uint8_t      minor;    
        uint8_t      build;    
} VL53L1_Version_t;


#define VL53L1_DEVINFO_STRLEN 32

typedef struct {
        char Name[VL53L1_DEVINFO_STRLEN];
        char Type[VL53L1_DEVINFO_STRLEN];
        char ProductId[VL53L1_DEVINFO_STRLEN];
        uint8_t ProductType;
        uint8_t ProductRevisionMajor;
        uint8_t ProductRevisionMinor;
} VL53L1_DeviceInfo_t;



typedef uint8_t VL53L1_PresetModes;

#define VL53L1_PRESETMODE_AUTONOMOUS                ((VL53L1_PresetModes)  3)
#define VL53L1_PRESETMODE_LITE_RANGING              ((VL53L1_PresetModes)  4)
#define VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS       ((VL53L1_PresetModes)  8)

        /* ... Modes to be added depending on device */
typedef uint8_t VL53L1_DistanceModes;

#define VL53L1_DISTANCEMODE_SHORT             ((VL53L1_DistanceModes)  1)
#define VL53L1_DISTANCEMODE_MEDIUM            ((VL53L1_DistanceModes)  2)
#define VL53L1_DISTANCEMODE_LONG              ((VL53L1_DistanceModes)  3)

typedef uint8_t VL53L1_XtalkCalibrationModes;

#define VL53L1_XTALKCALIBRATIONMODE_NO_TARGET \
        ((VL53L1_OffsetCalibrationModes) 0)

#define VL53L1_XTALKCALIBRATIONMODE_SINGLE_TARGET \
        ((VL53L1_OffsetCalibrationModes)  1)

#define VL53L1_XTALKCALIBRATIONMODE_FULL_ROI \
        ((VL53L1_OffsetCalibrationModes)  2)

typedef uint8_t VL53L1_OffsetCalibrationModes;

#define VL53L1_OFFSETCALIBRATIONMODE_STANDARD \
        ((VL53L1_OffsetCalibrationModes)  1)
#define VL53L1_OFFSETCALIBRATIONMODE_PRERANGE_ONLY  \
        ((VL53L1_OffsetCalibrationModes)  2)

#define VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE           0
#define VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE     1

#define VL53L1_CHECKENABLE_NUMBER_OF_CHECKS            2

typedef uint8_t VL53L1_ThresholdMode;

#define VL53L1_THRESHOLD_CROSSED_LOW   \
        ((VL53L1_ThresholdMode)  0)

#define VL53L1_THRESHOLD_CROSSED_HIGH   \
        ((VL53L1_ThresholdMode)  1)

#define VL53L1_THRESHOLD_OUT_OF_WINDOW    \
        ((VL53L1_ThresholdMode)  2)

#define VL53L1_THRESHOLD_IN_WINDOW        \
        ((VL53L1_ThresholdMode)  3)

typedef struct {
        VL53L1_ThresholdMode CrossMode;
        uint16_t High; 
        uint16_t Low;  
} VL53L1_DistanceThreshold_t;

typedef struct {
        VL53L1_ThresholdMode CrossMode;
        FixPoint1616_t High; 
        FixPoint1616_t Low;  
} VL53L1_RateThreshold_t;

typedef uint8_t VL53L1_DetectionMode;

#define VL53L1_DETECTION_NORMAL_RUN   \
        ((VL53L1_DetectionMode)  0)

#define VL53L1_DETECTION_DISTANCE_ONLY   \
        ((VL53L1_DetectionMode)  1)

#define VL53L1_DETECTION_RATE_ONLY   \
        ((VL53L1_DetectionMode)  2)

#define VL53L1_DETECTION_DISTANCE_AND_RATE   \
        ((VL53L1_DetectionMode)  3)

#define VL53L1_DETECTION_DISTANCE_OR_RATE   \
        ((VL53L1_DetectionMode)  4)

typedef struct {
        VL53L1_DetectionMode DetectionMode;     
        uint8_t IntrNoTarget; 
        VL53L1_DistanceThreshold_t Distance; 
        VL53L1_RateThreshold_t Rate;
} VL53L1_DetectionConfig_t;


typedef struct {
        VL53L1_PresetModes PresetMode;
        VL53L1_DistanceModes DistanceMode;
        VL53L1_DistanceModes InternalDistanceMode;
        VL53L1_DistanceModes NewDistanceMode;
        uint32_t MeasurementTimingBudgetMicroSeconds;
        uint8_t LimitChecksEnable[VL53L1_CHECKENABLE_NUMBER_OF_CHECKS];
        uint8_t LimitChecksStatus[VL53L1_CHECKENABLE_NUMBER_OF_CHECKS];
        FixPoint1616_t LimitChecksValue[VL53L1_CHECKENABLE_NUMBER_OF_CHECKS];
        FixPoint1616_t LimitChecksCurrent[VL53L1_CHECKENABLE_NUMBER_OF_CHECKS];
} VL53L1_DeviceParameters_t;


typedef uint8_t VL53L1_State;

#define VL53L1_STATE_POWERDOWN       ((VL53L1_State)  0)

#define VL53L1_STATE_WAIT_STATICINIT ((VL53L1_State)  1)

#define VL53L1_STATE_STANDBY         ((VL53L1_State)  2)

#define VL53L1_STATE_IDLE            ((VL53L1_State)  3)

#define VL53L1_STATE_RUNNING         ((VL53L1_State)  4)

#define VL53L1_STATE_RESET           ((VL53L1_State)  5)

#define VL53L1_STATE_UNKNOWN         ((VL53L1_State)  98)

#define VL53L1_STATE_ERROR           ((VL53L1_State)  99)

typedef struct {
        uint32_t TimeStamp;
        uint8_t StreamCount;
        uint8_t RangeQualityLevel;
        FixPoint1616_t SignalRateRtnMegaCps;
        FixPoint1616_t AmbientRateRtnMegaCps;
        uint16_t EffectiveSpadRtnCount;
        FixPoint1616_t SigmaMilliMeter;
        int16_t RangeMilliMeter;
        uint8_t RangeFractionalPart;
        uint8_t RangeStatus;
} VL53L1_RangingMeasurementData_t;



typedef struct {

        uint8_t   TopLeftX;   
        uint8_t   TopLeftY;   
        uint8_t   BotRightX;  
        uint8_t   BotRightY;  
} VL53L1_UserRoi_t;


typedef struct {
        uint8_t   global_config__spad_enables_ref_0;
        uint8_t   global_config__spad_enables_ref_1;
        uint8_t   global_config__spad_enables_ref_2;
        uint8_t   global_config__spad_enables_ref_3;
        uint8_t   global_config__spad_enables_ref_4;
        uint8_t   global_config__spad_enables_ref_5;
        uint8_t   global_config__ref_en_start_select;
        uint8_t   ref_spad_man__num_requested_ref_spads;
        uint8_t   ref_spad_man__ref_location;
        uint32_t  algo__crosstalk_compensation_plane_offset_kcps;
        int16_t   algo__crosstalk_compensation_x_plane_gradient_kcps;
        int16_t   algo__crosstalk_compensation_y_plane_gradient_kcps;
        uint16_t  ref_spad_char__total_rate_target_mcps;
        int16_t   algo__part_to_part_range_offset_mm;
        int16_t   mm_config__inner_offset_mm;
        int16_t   mm_config__outer_offset_mm;
} VL53L1_CustomerNvmManaged_t;

typedef struct {

        uint32_t                             struct_version;
        VL53L1_CustomerNvmManaged_t          customer;
        VL53L1_additional_offset_cal_data_t  add_off_cal_data;
        VL53L1_optical_centre_t              optical_centre;
        VL53L1_gain_calibration_data_t       gain_cal;
        VL53L1_cal_peak_rate_map_t           cal_peak_rate_map;

} VL53L1_CalibrationData_t;

#define VL53L1_ADDITIONAL_CALIBRATION_DATA_STRUCT_VERSION  0x10

#define VL53L1_CALIBRATION_DATA_STRUCT_VERSION \
                (VL53L1_LL_CALIBRATION_DATA_STRUCT_VERSION + \
                VL53L1_ADDITIONAL_CALIBRATION_DATA_STRUCT_VERSION)
/* VL53L1 Calibration Data struct version */

typedef VL53L1_additional_data_t VL53L1_AdditionalData_t;


typedef uint8_t VL53L1_SequenceStepId;

#define  VL53L1_SEQUENCESTEP_VHV                 ((VL53L1_SequenceStepId) 0)

#define  VL53L1_SEQUENCESTEP_PHASECAL            ((VL53L1_SequenceStepId) 1)

#define  VL53L1_SEQUENCESTEP_REFPHASE            ((VL53L1_SequenceStepId) 2)

#define  VL53L1_SEQUENCESTEP_DSS1                ((VL53L1_SequenceStepId) 3)

#define  VL53L1_SEQUENCESTEP_DSS2                ((VL53L1_SequenceStepId) 4)

#define  VL53L1_SEQUENCESTEP_MM1                 ((VL53L1_SequenceStepId) 5)

#define  VL53L1_SEQUENCESTEP_MM2                 ((VL53L1_SequenceStepId) 6)

#define  VL53L1_SEQUENCESTEP_RANGE               ((VL53L1_SequenceStepId) 7)

#define  VL53L1_SEQUENCESTEP_NUMBER_OF_ITEMS                     8

#define  VL53L1_RANGESTATUS_RANGE_VALID                         0

#define  VL53L1_RANGESTATUS_SIGMA_FAIL                          1

#define  VL53L1_RANGESTATUS_SIGNAL_FAIL                         2

#define  VL53L1_RANGESTATUS_RANGE_VALID_MIN_RANGE_CLIPPED       3

#define  VL53L1_RANGESTATUS_OUTOFBOUNDS_FAIL                    4

#define  VL53L1_RANGESTATUS_HARDWARE_FAIL                       5

#define  VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL      6

#define VL53L1_RANGESTATUS_WRAP_TARGET_FAIL                     7

#define VL53L1_RANGESTATUS_PROCESSING_FAIL                      8

#define VL53L1_RANGESTATUS_XTALK_SIGNAL_FAIL                    9

#define VL53L1_RANGESTATUS_SYNCRONISATION_INT                   10

#define VL53L1_RANGESTATUS_RANGE_VALID_MERGED_PULSE             11

#define VL53L1_RANGESTATUS_TARGET_PRESENT_LACK_OF_SIGNAL        12

#define VL53L1_RANGESTATUS_MIN_RANGE_FAIL                       13

#define VL53L1_RANGESTATUS_RANGE_INVALID                        14

#define  VL53L1_RANGESTATUS_NONE                                255

typedef struct {
        VL53L1_LLDriverData_t   LLData;
        VL53L1_LLDriverResults_t llresults;
        VL53L1_State      PalState; /* Store the pal state */
        VL53L1_DeviceParameters_t CurrentParameters;
} VL53L1_DevData_t;


/* MACRO Definitions */
/* Defines */
#define VL53L1_SETPARAMETERFIELD(Dev, field, value) \
        (VL53L1DevDataSet(Dev, CurrentParameters.field, value))

#define VL53L1_GETPARAMETERFIELD(Dev, field, variable) \
        (variable = VL53L1DevDataGet(Dev, CurrentParameters).field)


#define VL53L1_SETARRAYPARAMETERFIELD(Dev, field, index, value) \
        (VL53L1DevDataSet(Dev, CurrentParameters.field[index], value))

#define VL53L1_GETARRAYPARAMETERFIELD(Dev, field, index, variable) \
        (variable = VL53L1DevDataGet(Dev, CurrentParameters).field[index])


#define VL53L1_SETDEVICESPECIFICPARAMETER(Dev, field, value) \
        (VL53L1DevDataSet(Dev, DeviceSpecificParameters.field, value))

#define VL53L1_GETDEVICESPECIFICPARAMETER(Dev, field) \
        (VL53L1DevDataGet(Dev, DeviceSpecificParameters).field)


#define VL53L1_FIXPOINT1616TOFIXPOINT44(Value) \
        (uint16_t)((Value>>12)&0xFFFF)
#define VL53L1_FIXPOINT44TOFIXPOINT1616(Value) \
        (FixPoint1616_t)((uint32_t)Value<<12)

#define VL53L1_FIXPOINT1616TOFIXPOINT72(Value) \
        (uint16_t)((Value>>14)&0xFFFF)
#define VL53L1_FIXPOINT72TOFIXPOINT1616(Value) \
        (FixPoint1616_t)((uint32_t)Value<<14)

#define VL53L1_FIXPOINT1616TOFIXPOINT97(Value) \
        (uint16_t)((Value>>9)&0xFFFF)
#define VL53L1_FIXPOINT97TOFIXPOINT1616(Value) \
        (FixPoint1616_t)((uint32_t)Value<<9)

#define VL53L1_FIXPOINT1616TOFIXPOINT88(Value) \
        (uint16_t)((Value>>8)&0xFFFF)
#define VL53L1_FIXPOINT88TOFIXPOINT1616(Value) \
        (FixPoint1616_t)((uint32_t)Value<<8)

#define VL53L1_FIXPOINT1616TOFIXPOINT412(Value) \
        (uint16_t)((Value>>4)&0xFFFF)
#define VL53L1_FIXPOINT412TOFIXPOINT1616(Value) \
        (FixPoint1616_t)((uint32_t)Value<<4)

#define VL53L1_FIXPOINT1616TOFIXPOINT313(Value) \
        (uint16_t)((Value>>3)&0xFFFF)
#define VL53L1_FIXPOINT313TOFIXPOINT1616(Value) \
        (FixPoint1616_t)((uint32_t)Value<<3)

#define VL53L1_FIXPOINT1616TOFIXPOINT08(Value) \
        (uint8_t)((Value>>8)&0x00FF)
#define VL53L1_FIXPOINT08TOFIXPOINT1616(Value) \
        (FixPoint1616_t)((uint32_t)Value<<8)

#define VL53L1_FIXPOINT1616TOFIXPOINT53(Value) \
        (uint8_t)((Value>>13)&0x00FF)
#define VL53L1_FIXPOINT53TOFIXPOINT1616(Value) \
        (FixPoint1616_t)((uint32_t)Value<<13)

#define VL53L1_FIXPOINT1616TOFIXPOINT102(Value) \
        (uint16_t)((Value>>14)&0x0FFF)
#define VL53L1_FIXPOINT102TOFIXPOINT1616(Value) \
        (FixPoint1616_t)((uint32_t)Value<<14)

#define VL53L1_FIXPOINT1616TOFIXPOINT142(Value) \
        (uint16_t)((Value>>14)&0xFFFF)
#define VL53L1_FIXPOINT142TOFIXPOINT1616(Value) \
        (FixPoint1616_t)((uint32_t)Value<<14)

#define VL53L1_FIXPOINT1616TOFIXPOINT160(Value) \
        (uint16_t)((Value>>16)&0xFFFF)
#define VL53L1_FIXPOINT160TOFIXPOINT1616(Value) \
        (FixPoint1616_t)((uint32_t)Value<<16)

#define VL53L1_MAKEUINT16(lsb, msb) (uint16_t)((((uint16_t)msb)<<8) + \
                (uint16_t)lsb)

#ifndef SUPPRESS_UNUSED_WARNING
#define SUPPRESS_UNUSED_WARNING(x) ((void) (x))
#endif

#define CHECK_ERROR_GO_ENDFUNC do {\
                if (Status != VL53L1_ERROR_NONE) \
                        goto ENDFUNC; \
        } while (0)

#ifdef __cplusplus
}
#endif


#endif /* _VL53L1_DEF_H_ */